ArduCopter-3.2.1 Beta Testing

ArduCopter 3.2.1-rc2 (release candidate #2) has completed beta testing and has been released as the official version available through the mission planner and other ground stations.

Changes from AC3.2 are listed below and in the ReleaseNotes:
1) Enhancements:
    a) reduced twitch when passing Spline waypoints
    b) Faster disarm after landing in Auto, Land, RTL
    c) Pixhawk LED turns green before arming only after GPS HDOP falls below 2.3 (only in flight modes requiring GPS)
2) Safety Features:
    a) Add desired descent rate check to reduce chance of false-positive on landing check
    b) improved MPU6k health monitoring and re-configuration in case of in-flight failure
    c) Rally point distance check reduced to 300m (reduces chance of RTL to far away forgotten Rally point)
    d) auto-disarm if vehicle is landed for 15seconds even in Auto, Guided, RTL, Circle
    e) fence breach while vehicle is landed causes vehicle to disarm (previously did RTL)
3) Bug Fixes:
    a) Check flight mode even when arming from GCS (previously it was possible to arm in RTL mode if arming was initiated from GCS)
    b) Send vehicle target destination in RTL, Guided (allows GCS to show where vehicle is flying to in these modes)
    c) PosHold wind compensation fix
    d) prevent infinite loop with do-jump commands pointing at each other
    e) pixhawk memory corruption fix when connecting via USB
    f) vehicle stops at fence's alt limit in Loiter, AltHold, PosHold (as it did in AC3.1.5)
    g) protect against multiple arming messages from GCS causing gyro calibratoin failure

Thanks to Raph for the video.  This is actually a video from AC3.2 until we have one specific to AC3.2.1.

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        • BTW, the prop was fine but the arm was replaced (broken). Thank goodness I have spares. A prop could be replaced faster (grin). That tree jumped in front as it went crazy. Not enough time to override that mode.

      • I will certainly check Missionplanner. It should be the latest. Perhaps I clicked position instead of position hold. Now that you mentioned it, that is something to think about. I know 3.2.0 was doing ok. Still, I lost control and couldn't recover fast enough in my yard. The tree jumped in front of the quad....

      • I had a crash taking off in stab mode a few weeks ago in 3.2 vers, Log indicates the same, ERR Flight mode, but I thougth that it was something fail from my radio, when I return from vacations I'm going to see if I have the log, many flies, only one time occurs to me.

        • I return and find the log, I didn't know what had happen I never had a problem with this cuad after that, if someone can help me to know, it's much apreciated :) 


          2015-01-15 10-16-12.log

        • I haven't seen it yet in 3.2. I had some time to test the beta 3.2.1. I'm back to 3.2 now. If it shows up there, I guess I can move back to 3.1.5.

  • No Position Hold with Pixhawk!

    This issue is happening (err mode_8 ) in 3.2 and 3.2.1   

    Forgive me If it is not correct to post in this thread, but I'm not getting any traction posting elsewhere.

    please look at




    • Flight Mode 8 is the old Position mode, which was like Loiter, but with manual throttle.  It is not longer valid since 3.2.  The new Position Hold flight mode is #16.  As posted in your thread there, you should update MP to see the changes.

  • Hi,

    I've been running 3.2 on my quad for sometime and never had any issue.

    Now RTL is misbehaving

    I have RTL_ALT 5000 (50meters) and RTL_ALT_FINAL 250 (2.5meters) . 
    On the first flight the quad RTL altitude final was at 2.5 meters and I brought it down manually.
    Then on the second flight it went all way down and tried to land (touching ground) all by itself ... why ?

    At the second log (2015-01-27 16-40-44) BarAlt is equal to Alt, which tells that altitude reading is fine
    However DAlt is going to 0 on the second flight... but it shouldnt (it should had stayed at 2.5 meters ) ! 

    Any reason for this ?

    (EDIT: sorry forgot to attach second log:

    2015-01-27 16-29-42.log

    RTL misbehaving.png

    Dropbox - Error
    Dropbox is a free service that lets you bring your photos, docs, and videos anywhere and share them easily. Never email yourself a file again!
  • Just fyi

    Many flights in alt hld and pos hld. No problems but one thing I noticed is I have been flying with EKF on since way back when 3.2 was beta. No problems. However I noticed now with 3.2.1 every so often it got twitchy / jumpy when switched into pos hld. I made ch 7 able to switch back and forth in and out of EKF and for sure it came and went as I switched back and forth. EKF was twitchy. I screwed up and don't have the log. If it seems real consistently an issue I will. Just wanted to mention it.

    Also my quad toilet bowls even with decent offsets. Also some odd error message in the auto analysis I keep getting in all my logs in drone share. Here's another post about it and a log with the toilet bowl issue I can't figure out. I'm real happy with how it flys!! Just not sure about the toilet bowling... maybe no big deal?

    • Developer


      I'm sure you know what toilet bowling is but just to be clear, it looks like this.

      This is nearly always caused by a compass issue.  It's most often caused by interference from the power wires on the compass (are you using a mast) or the COMPASS_ORIENT parameters being set incorrectly.  It's actually not normally a problem with the compass calibration itself.

This reply was deleted.


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